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fix(mrm_handler): simplify hazard command choice #9929

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merged 1 commit into from
Jan 16, 2025
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fix(mrm_handler): simplify hazard command choice #9929

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7 changes: 1 addition & 6 deletions system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2024 TIER IV, Inc.

Check notice on line 1 in system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp

View check run for this annotation

CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Overall Code Complexity 

The mean cyclomatic complexity decreases from 5.57 to 5.52, threshold = 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -115,12 +115,7 @@
HazardLightsCommand msg;

msg.stamp = this->now();
if (is_emergency_holding_) {
// turn hazard on during emergency holding
msg.command = HazardLightsCommand::ENABLE;
} else if (isEmergency() && param_.turning_hazard_on.emergency) {
// turn hazard on if vehicle is in emergency state and
// turning hazard on if emergency flag is true
if (param_.turning_hazard_on.emergency && isEmergency()) {
msg.command = HazardLightsCommand::ENABLE;
} else {
msg.command = HazardLightsCommand::NO_COMMAND;
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